CN113063442A - Floor sweeping robot gyroscope calibration method and device, computer equipment and memory - Google Patents
Floor sweeping robot gyroscope calibration method and device, computer equipment and memory Download PDFInfo
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- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The embodiment of the application belongs to the technical field of sweeping robot detection, and relates to a method for calibrating a gyroscope of a sweeping robot, which comprises the steps of continuously detecting a signal generated by a reference gyroscope, and entering a calibration mode until the signal is detected; an adjusting step: in the calibration mode, adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent; driving the robot to rotate according to a preset action; respectively acquiring the angle values of a reference gyroscope and a gyroscope to be tested in a static state, determining a calibration coefficient according to the ratio of the angle variation, and adjusting the angle variation amplitude of the gyroscope to be tested according to the calibration coefficient; and turning to an adjusting step until the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be detected is smaller than the threshold value. The application also provides a gyroscope calibration device of the sweeping robot, computer equipment and a storage medium. The detection cost is low and efficient.
Description
Technical Field
The application relates to the technical field of sweeping robot detection, in particular to a sweeping robot gyroscope calibration method and device, computer equipment and a storage.
Background
The sweeping robot can independently sweep a preset area, so that the workload of indoor cleaning is simplified, the sweeping robot needs to be controlled by means of navigation to reasonably walk and clean in the preset area in the independent sweeping process of the sweeping robot, the change data of the dynamic angle of the sweeping robot needs to be acquired by a gyroscope in the process, when each sweeping robot leaves a factory, the precision of the gyroscope needs to be ensured within an allowable range, the existing gyroscope detection mode generally needs to use special detection equipment, the special equipment has high use cost and is suitable for being used by professional electronic accessory manufacturers, for manufacturers with small gyroscope use amount, the special gyroscope detection equipment matched with the special gyroscope detection equipment causes high cost of detection procedures, the important value of the special gyroscope detection equipment is that the gyroscope to be detected can be driven to rotate by a preset rotation angle, the sweeping robot can realize the accurate control of the rotation of the robot body, so that the cost for detecting the gyroscope on the sweeping robot is reduced by detecting the gyroscope used by the sweeping robot.
Disclosure of Invention
The embodiment of the application aims to provide a method for calibrating a gyroscope by means of a sweeping robot.
In order to solve the technical problem, an embodiment of the application provides a method for calibrating a gyroscope of a sweeping robot, which adopts the following technical scheme:
the method for calibrating the gyroscope of the sweeping robot comprises the following steps:
continuously detecting a signal generated by a reference gyroscope until the signal is detected, and entering a calibration mode;
an adjusting step: in the calibration mode, adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent;
driving the robot to rotate according to a preset action;
respectively acquiring the angle values of a reference gyroscope and a gyroscope to be tested in a static state, if the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be tested is greater than a preset threshold value, determining a calibration coefficient according to the proportion of the angle variation, and adjusting the angle variation amplitude of the gyroscope to be tested according to the calibration coefficient;
and turning to an adjusting step until the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be detected is smaller than the threshold value.
Further, the step of continuously detecting a signal generated by the reference gyroscope until the signal is detected and entering a calibration mode specifically includes:
controlling the sweeping robot to start or restart;
detecting the signal generated by the reference gyroscope within a preset time, and entering a calibration mode if the signal is detected.
Further, the step of adjusting the initial angles of the reference gyroscope and the gyroscope to be measured to be consistent specifically includes:
continuously acquiring the angular velocity of the gyroscope to be detected according to the condition that the initial time of the gyroscope to be detected is not 0;
determining that the sweeping robot is static according to the condition that the angular speed of the gyroscope to be tested is smaller than a preset value within a preset time;
in the state that the sweeping robot is static, the initial time of the reference gyroscope and the gyroscope to be tested is set to be 0, and the initial angle of the gyroscope to be tested and the reference gyroscope is set to be 0.
Further, the step of adjusting the initial angles of the reference gyroscope and the gyroscope to be measured to be consistent further includes:
continuously acquiring the angular velocity of the gyroscope to be detected according to the condition that the initial time of the gyroscope to be detected is 0;
determining that the sweeping robot is static according to the condition that the angular speed of the gyroscope to be tested is smaller than a preset value within a preset time;
and under the static state of the sweeping robot, acquiring the current angle of the gyroscope to be detected or the gyroscope to be detected, and setting the initial angles of the reference gyroscope and the gyroscope to be detected as the current angle.
Further, the step is shifted to the adjusting step, and after the difference between the angle value of the reference gyroscope and the angle variation of the gyroscope to be measured is smaller than the threshold, the method further includes:
and in the verification mode, the robot is driven to rotate, and the to-be-tested gyroscope is verified to be normal according to the condition that the angle variation of the reference gyroscope and the to-be-tested gyroscope is smaller than the threshold value.
Further, after the step of entering the verification mode, driving the robot to rotate, and verifying that the gyroscope to be tested is normal according to the fact that the angle variation of the reference gyroscope and the gyroscope to be tested is smaller than the threshold value, the method further includes:
and after the preset time, entering an adjusting step to periodically calibrate the gyroscope to be tested.
In order to solve the technical problem, the embodiment of the application further provides a floor sweeping robot gyroscope calibration device, and the following technical scheme is adopted:
robot gyroscope calibration device sweeps floor includes:
the mode control module is used for continuously detecting the signal generated by the reference gyroscope until the signal is detected and entering a calibration mode;
an adjustment module for performing the adjustment step: in the calibration mode, adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent;
the driving module is used for driving the robot to rotate according to a preset action;
the calibration module is used for respectively obtaining the angle values of the reference gyroscope and the gyroscope to be tested in a static state, if the difference value of the angle value of the reference gyroscope and the angle variation of the gyroscope to be tested is larger than a preset threshold value, determining a calibration coefficient according to the proportion of the angle variation, and adjusting the angle variation amplitude of the gyroscope to be tested according to the calibration coefficient;
and the circulating module is used for switching to the adjusting step until the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be detected is smaller than the threshold value.
Further, the adjusting module specifically includes:
the angular velocity obtaining submodule is used for continuously obtaining the angular velocity of the gyroscope to be detected according to the condition that the initial time of the gyroscope to be detected is not 0;
the static judgment submodule is used for determining that the sweeping robot is static according to the condition that the angular speed of the gyroscope to be tested is smaller than a preset value within preset time;
and the initial value setting submodule is used for setting the initial time of the reference gyroscope and the gyroscope to be tested to 0 and setting the initial angle of the gyroscope to be tested and the reference gyroscope to 0 in the static state of the sweeping robot.
In order to solve the above technical problem, an embodiment of the present application further provides a computer device, which adopts the following technical solutions:
a computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for calibrating the gyroscope of the sweeping robot when executing the computer program.
In order to solve the above technical problem, an embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for calibrating a gyroscope of a sweeping robot as described above.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: the reference gyroscope with good precision is arranged on the sweeping robot, the sweeping robot enters a calibration state when the reference gyroscope is detected, initial angle parameters of the reference gyroscope and the gyroscope to be detected are adjusted at first, then the sweeping robot is driven to rotate according to preset actions, angle change is generated to enable the reference gyroscope and the gyroscope to be detected simultaneously, the difference value of the angle values of the reference gyroscope and the gyroscope to be detected is compared, the calibration coefficient of the gyroscope to be detected is determined, the amplitude of the angle change of the gyroscope to be detected is adjusted, the sweeping robot can stably output the rotation angle, the gyroscope to be detected is detected through the cooperation of the reference gyroscope, and the detection cost is low and high.
Drawings
In order to more clearly illustrate the solution of the present application, the drawings needed for describing the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flow chart of an embodiment of a method for calibrating a gyroscope of a sweeping robot according to the present application;
fig. 2 is a schematic structural diagram of an embodiment of a gyro calibration apparatus of a sweeping robot according to the present application;
FIG. 3 is a schematic block diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of an embodiment of a method for calibrating a gyroscope of a sweeping robot according to the present application is shown. The method for calibrating the gyroscope of the sweeping robot comprises the following steps:
step S100: continuously detecting a signal generated by a reference gyroscope until the signal is detected, and entering a calibration mode;
step S200: an adjusting step: in the calibration mode, adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent;
step S300: driving the robot to rotate according to a preset action;
step S400: respectively acquiring the angle values of a reference gyroscope and a gyroscope to be tested in a static state, if the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be tested is greater than a preset threshold value, determining a calibration coefficient according to the proportion of the angle variation, and adjusting the angle variation amplitude of the gyroscope to be tested according to the calibration coefficient;
step S500: and turning to an adjusting step until the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be detected is smaller than the threshold value.
Specifically, through set up the good reference gyroscope of precision on the robot of sweeping the floor, and get into the calibration state under the state that detects the reference gyroscope, at first adjust the initial angle parameter of reference gyroscope and the gyroscope that awaits measuring, later according to preset action drive robot of sweeping the floor rotates, for reference gyroscope and the gyroscope that awaits measuring detect simultaneously with producing the angular variation, later contrast the difference of the angle value of reference gyroscope and the gyroscope that awaits measuring, confirm the calibration coefficient of the gyroscope that awaits measuring, with the range of adjustment gyroscope detection angle variation that awaits measuring, this scheme utilizes the robot of sweeping the floor to can stable output turned angle, carry out the detection of the gyroscope that awaits measuring through the cooperation of reference gyroscope, it is low in efficiency to detect cost.
In this embodiment, the electronic device (for example, the server/terminal device shown in fig. 1) operating in the gyro calibration method of the sweeping robot may request or receive data and information through a wired connection manner or a wireless connection manner. It should be noted that the wireless connection means may include, but is not limited to, a 3G/4G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, a uwb (ultra wideband) connection, and other wireless connection means now known or developed in the future.
Further, the step 100: continuously detecting a signal generated by a reference gyroscope until the signal is detected, and entering a calibration mode, wherein the method specifically comprises the following steps:
step 101: controlling the sweeping robot to start or restart;
step 102: detecting the signal generated by the reference gyroscope within a preset time, and entering a calibration mode if the signal is detected.
Specifically, the calibration work of robot of sweeping the floor just can be gone on at the delivery and maintenance in-process tightly to install reference gyroscope at the prerequisite that needs the robot to carry out gyroscope calibration work, so judge the additional installation that has or not reference gyroscope through the mode of scanning interface or port at the in-process of power on self-checking, only under the prerequisite of having installed the gyroscope additional, just get into the calibration mode, this scheme has promoted the convenience of robot calibration work.
Further, the step S200: adjusting the initial angles of the reference gyroscope and the gyroscope to be measured to be consistent, and specifically comprising:
step S201: continuously acquiring the angular speed of the gyroscope to be detected;
step S202: determining that the sweeping robot is static according to the condition that the angular speed of the gyroscope to be tested is smaller than a preset value within a preset time;
step S203: according to the condition that the initial time of the gyroscope to be tested is not 0, in the state that the sweeping robot is static, the initial time of the gyroscope to be tested is set to be 0, and the initial angles of the gyroscope to be tested and the reference gyroscope are set to be 0.
Specifically, the calibration between the gyroscope to be measured and the reference gyroscope is performed through matching of the size of the angle variation in unit time, the gyroscope to be measured and the reference gyroscope respectively have respective clocks, the clocks need to be adjusted to be consistent, and the scalar of the initial angle is adjusted to be consistent, so that subsequent detection and calculation are facilitated. The scheme is beneficial to improving the calibration efficiency of the gyroscope.
Further, the step S200: adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent, and determining that the sweeping robot still comprises the following steps of S202 according to the condition that the angular velocity of the gyroscope to be tested is less than the preset value within the preset time:
step S204: according to the fact that the initial time of the gyroscope to be tested is 0, the current angle of the gyroscope to be tested or the gyroscope to be tested is obtained under the static state of the sweeping robot, and the initial angles of the reference gyroscope and the gyroscope to be tested are set to be the current angle.
In an embodiment, if the initial time of the gyroscope to be tested is 0, it indicates that the gyroscope to be tested has completed the zeroing state, the angle indication of the gyroscope to be tested is not zero at this time, the initial time of the reference gyroscope is adjusted to be zero, the initial angle of the reference gyroscope is adjusted to be consistent with the gyroscope to be tested, and the calibration of the gyroscope to be tested is performed.
Further, the step S500: turning to an adjusting step, and after the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be tested is smaller than the threshold value, the method further comprises the following steps:
step S600: and in the verification mode, the robot is driven to rotate, and the to-be-tested gyroscope is verified to be normal according to the condition that the angle variation of the reference gyroscope and the to-be-tested gyroscope is smaller than the threshold value.
The scheme is beneficial to ensuring the accuracy of the calibration coefficient of the gyroscope to be tested.
Further, the step S600: and in the verification mode, the robot is driven to rotate, and after the normal gyroscope to be tested is verified according to the condition that the angle variation of the reference gyroscope and the gyroscope to be tested is smaller than the threshold value, the method further comprises the following steps:
step S700: and after the preset time, entering an adjusting step to periodically calibrate the gyroscope to be tested.
The scheme is beneficial to continuously representing the stable operation of the gyroscope to be tested.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
With further reference to fig. 2, as an implementation of the method shown in fig. 1, the present application provides an embodiment of calibrating a gyroscope of a sweeping robot, where the embodiment of the apparatus corresponds to the embodiment of the method shown in fig. 1, and the apparatus may be specifically applied to various electronic devices.
Robot gyroscope calibration device sweeps floor includes:
a mode control module 100 for continuously detecting a signal generated by the reference gyroscope until the signal is detected, entering a calibration mode;
an adjusting module 200, configured to perform the adjusting step: in the calibration mode, adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent;
the driving module 300 is used for driving the robot to rotate according to a preset action;
the calibration module 400 is configured to obtain angle values of a reference gyroscope and a to-be-tested gyroscope respectively in a static state, determine a calibration coefficient according to a ratio of angle variation if a difference between the angle value of the reference gyroscope and the angle variation of the to-be-tested gyroscope is greater than a preset threshold, and adjust an angle variation amplitude of the to-be-tested gyroscope according to the calibration coefficient;
and the loop module 500 is configured to go to the adjusting step until a difference between the angle value of the reference gyroscope and the angle variation of the gyroscope to be measured is smaller than the threshold.
Specifically, through set up the good reference gyroscope of precision on the robot of sweeping the floor, and get into the calibration state under the state that detects the reference gyroscope, at first adjust the initial angle parameter of reference gyroscope and the gyroscope that awaits measuring, later according to preset action drive robot of sweeping the floor rotates, for reference gyroscope and the gyroscope that awaits measuring detect simultaneously with producing the angular variation, later contrast the difference of the angle value of reference gyroscope and the gyroscope that awaits measuring, confirm the calibration coefficient of the gyroscope that awaits measuring, with the range of adjustment gyroscope detection angle variation that awaits measuring, this scheme utilizes the robot of sweeping the floor to can stable output turned angle, carry out the detection of the gyroscope that awaits measuring through the cooperation of reference gyroscope, it is low in efficiency to detect cost.
Further, the adjusting module specifically includes:
the angular velocity obtaining submodule 201 is used for continuously obtaining the angular velocity of the gyroscope to be tested according to the condition that the initial time of the gyroscope to be tested is not 0;
the static judgment submodule 202 is used for determining that the sweeping robot is static according to the fact that the angular velocity of the gyroscope to be tested is smaller than a preset value within a preset time;
and the initial value setting submodule 203 is used for setting the initial time of the reference gyroscope and the gyroscope to be tested to 0 and setting the initial angle of the gyroscope to be tested and the reference gyroscope to 0 in the static state of the sweeping robot.
In order to solve the technical problem, an embodiment of the present application further provides a computer device. Referring to fig. 3, fig. 3 is a block diagram of a basic structure of a computer device according to the present embodiment.
The computer device 6 comprises a memory 61, a processor 62, a network interface 63 communicatively connected to each other via a system bus. It is noted that only a computer device 6 having components 61-63 is shown, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead. As will be understood by those skilled in the art, the computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory 61 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal storage unit of the computer device 6 and an external storage device thereof. In this embodiment, the memory 61 is generally used for storing an operating system installed in the computer device 6 and various application software, such as program codes of a gyroscope calibration method. Further, the memory 61 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 62 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is configured to execute the program code stored in the memory 61 or process data, for example, execute the program code of the gyroscope calibration method.
The network interface 63 may comprise a wireless network interface or a wired network interface, and the network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application further provides another embodiment, which is to provide a computer readable storage medium storing a gyroscope calibration program, which is executable by at least one processor to cause the at least one processor to perform the steps of the gyroscope calibration method as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (10)
1. The method for calibrating the gyroscope of the sweeping robot is characterized by comprising the following steps:
continuously detecting a signal generated by a reference gyroscope until the signal is detected, and entering a calibration mode;
an adjusting step: in the calibration mode, adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent;
driving the robot to rotate according to a preset action;
respectively acquiring the angle values of a reference gyroscope and a gyroscope to be tested in a static state, if the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be tested is greater than a preset threshold value, determining a calibration coefficient according to the proportion of the angle variation, and adjusting the angle variation amplitude of the gyroscope to be tested according to the calibration coefficient;
and turning to an adjusting step until the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be detected is smaller than the threshold value.
2. The method for calibrating a gyroscope of a sweeping robot according to claim 1, wherein the step of continuously detecting a signal generated by a reference gyroscope until the signal is detected and entering a calibration mode specifically comprises:
controlling the sweeping robot to start or restart;
detecting the signal generated by the reference gyroscope within a preset time, and entering a calibration mode if the signal is detected.
3. The method for calibrating the gyroscope of the sweeping robot according to claim 1, wherein the step of adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent specifically comprises the steps of:
continuously acquiring the angular velocity of the gyroscope to be detected according to the condition that the initial time of the gyroscope to be detected is not 0;
determining that the sweeping robot is static according to the condition that the angular speed of the gyroscope to be tested is smaller than a preset value within a preset time;
in the state that the sweeping robot is static, the initial time of the reference gyroscope and the gyroscope to be tested is set to be 0, and the initial angle of the gyroscope to be tested and the reference gyroscope is set to be 0.
4. The method for calibrating the gyroscope of the sweeping robot according to claim 3, wherein the step of adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent further comprises:
continuously acquiring the angular velocity of the gyroscope to be detected according to the condition that the initial time of the gyroscope to be detected is 0;
determining that the sweeping robot is static according to the condition that the angular speed of the gyroscope to be tested is smaller than a preset value within a preset time;
and under the static state of the sweeping robot, acquiring the current angle of the gyroscope to be detected or the gyroscope to be detected, and setting the initial angles of the reference gyroscope and the gyroscope to be detected as the current angle.
5. The method for calibrating a gyroscope of a sweeping robot according to claim 1, wherein the step is shifted to the adjusting step until the difference between the angle value of the reference gyroscope and the angle variation of the gyroscope to be tested is smaller than the threshold, and the method further comprises:
and in the verification mode, the robot is driven to rotate, and the to-be-tested gyroscope is verified to be normal according to the condition that the angle variation of the reference gyroscope and the to-be-tested gyroscope is smaller than the threshold value.
6. The method for calibrating the gyroscope of the sweeping robot according to claim 5, wherein the step of entering the verification mode drives the robot to rotate, and after the gyroscope to be tested is verified to be normal according to the fact that the angle variation of the reference gyroscope and the gyroscope to be tested is smaller than the threshold value, the method further comprises the following steps:
and after the preset time, entering an adjusting step to periodically calibrate the gyroscope to be tested.
7. Robot gyroscope calibration device sweeps floor, its characterized in that includes:
the mode control module is used for continuously detecting the signal generated by the reference gyroscope until the signal is detected and entering a calibration mode;
an adjustment module for performing the adjustment step: in the calibration mode, adjusting the initial angles of the reference gyroscope and the gyroscope to be tested to be consistent;
the driving module is used for driving the robot to rotate according to a preset action;
the calibration module is used for respectively obtaining the angle values of the reference gyroscope and the gyroscope to be tested in a static state, if the difference value of the angle value of the reference gyroscope and the angle variation of the gyroscope to be tested is larger than a preset threshold value, determining a calibration coefficient according to the proportion of the angle variation, and adjusting the angle variation amplitude of the gyroscope to be tested according to the calibration coefficient;
and the circulating module is used for switching to the adjusting step until the difference value between the angle value of the reference gyroscope and the angle variation of the gyroscope to be detected is smaller than the threshold value.
8. The method for calibrating a gyroscope of a sweeping robot according to claim 7, wherein the adjusting module specifically comprises:
the angular velocity obtaining submodule is used for continuously obtaining the angular velocity of the gyroscope to be detected according to the condition that the initial time of the gyroscope to be detected is not 0;
the static judgment submodule is used for determining that the sweeping robot is static according to the condition that the angular speed of the gyroscope to be tested is smaller than a preset value within preset time;
and the initial value setting submodule is used for setting the initial time of the reference gyroscope and the gyroscope to be tested to 0 and setting the initial angle of the gyroscope to be tested and the reference gyroscope to 0 in the static state of the sweeping robot.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that: the processor, when executing the computer program, performs the steps of the method for calibrating a gyroscope of a sweeping robot according to any one of claims 1 to 6.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for calibrating a gyroscope of a sweeping robot according to any one of claims 1 to 6.
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